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DualCoding::MapBuilderRequest Class Reference
Detailed DescriptionDefinition at line 33 of file MapBuilderRequest.h.
Member Typedef Documentation
Definition at line 44 of file MapBuilderRequest.h. Member Enumeration DocumentationDefinition at line 90 of file MapBuilderRequest.h. Definition at line 37 of file MapBuilderRequest.h. Constructor & Destructor Documentation
Constructor. Definition at line 105 of file MapBuilderRequest.h.
Copy constructor. Definition at line 131 of file MapBuilderRequest.h.
Destructor. Definition at line 227 of file MapBuilderRequest.h. Member Function Documentation
Shortcut for requesting agent recognition (seeing other robots). Definition at line 198 of file MapBuilderRequest.cc.
Shortcut for specifying a minimum blob area for all blob colors. Definition at line 117 of file MapBuilderRequest.cc. Referenced by Grasper::FindObj::doStart().
Shortcut for specifying all object colors. Definition at line 103 of file MapBuilderRequest.cc.
Look for shapes that could match this one. Definition at line 148 of file MapBuilderRequest.cc. Referenced by DualCoding::Pilot::LookForTarget::doStart(), DualCoding::Pilot::LookForObject::doStart(), KoduInterpreter::GrabActionRunner::ExecuteGrabAction::PrepareForAnotherGrasp::FindObjectAgain::doStart(), KoduInterpreter::DropActionRunner::ExecuteDrop::RepositionReleasedObject::LookForObjectAgain::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForAnotherGrasp::FindObjectAgain::doStart(), Grasper::Verify::GetCross::doStart(), Grasper::Verify::GetDomino::doStart(), and Grasper::FindObj::doStart().
Shortcut for specifying a blob's orientation and (for poster orientations) assumed height. Definition at line 127 of file MapBuilderRequest.cc.
Shortcut for specifying a blob's orientation and (for poster orientations) assumed height. Definition at line 122 of file MapBuilderRequest.cc.
Shortcut for specifying a cylinder's height. Definition at line 136 of file MapBuilderRequest.cc.
Shortcut for specifying a cylinder's height. Definition at line 132 of file MapBuilderRequest.cc.
Shortcut for specifying a marker type to look for. Definition at line 140 of file MapBuilderRequest.cc. Referenced by addAttributes().
Shortcut for specifying a minimum blob area. Definition at line 112 of file MapBuilderRequest.cc.
Shortcut for specifying an objectColors entry. Definition at line 90 of file MapBuilderRequest.cc.
Shortcut for specifying an objectColors entry. Definition at line 85 of file MapBuilderRequest.cc. Referenced by addAgentRecognition(), addAttributes(), KoduInterpreter::MotionActionRunner::ExecuteMotionAction::ExecuteSimpleMotion::FindMotionTarget::doStart(), KoduInterpreter::ReceiveActionRunner::FindObject::doStart(), KoduInterpreter::ReceiveActionRunner::ReceiveActionTurnAndGet::FindObject::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForItemRecovery::LocateLostObject::doStart(), KoduInterpreter::InitializeAgent::LookAround::doStart(), and Kodu::VisualNavErrMonTask::getMapBuilderRequest().
Shortcut for specifying an occluderColors entry. Definition at line 107 of file MapBuilderRequest.cc.
Shortcut for specifying a secondColors entry. Definition at line 99 of file MapBuilderRequest.cc.
Shortcut for specifying a secondColors entry. Definition at line 94 of file MapBuilderRequest.cc. Referenced by addAttributes().
Shortcut for specifying a SIFT object type to look for. Definition at line 144 of file MapBuilderRequest.cc.
Set of all non-zero/non-unsaturated colors (useful for requesting markers of all possible colors). Definition at line 77 of file MapBuilderRequest.cc. Referenced by addAllObjectColors().
Definition at line 229 of file MapBuilderRequest.h. Referenced by DualCoding::MapBuilder::determineNextGazePoint(), DualCoding::MapBuilder::processImage(), and validateRequestType().
Assignment operator. Definition at line 171 of file MapBuilderRequest.h.
Shortcut for selecting a specific AprilTag family. Definition at line 191 of file MapBuilderRequest.cc.
Shortcut for requesting AprilTag extraction using the smallest available tag family. Definition at line 175 of file MapBuilderRequest.cc. Referenced by addAttributes(), KoduInterpreter::MotionActionRunner::ExecuteMotionAction::ExecuteSimpleMotion::FindMotionTarget::doStart(), KoduInterpreter::ReceiveActionRunner::FindObject::doStart(), KoduInterpreter::ReceiveActionRunner::ReceiveActionTurnAndGet::FindObject::doStart(), KoduInterpreter::GrabActionRunner::ExecuteGrabAction::PrepareForAnotherGrasp::LookAroundForObject::doStart(), KoduInterpreter::GrabActionRunner::ExecuteGrabAction::VerifyObjectWasGrabbed::LookAtTheGripper::doStart(), KoduInterpreter::DropActionRunner::ExecuteDrop::LookAtObjectAprilTag::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForAnotherGrasp::LookForTag::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::VerifyObjectWasGrabbed::LookAtTheGripper::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForItemRecovery::LocateLostObject::doStart(), KoduInterpreter::InitializeAgent::LookAround::doStart(), Grasper::Verify::GetAprilTag::doStart(), Kodu::VisualBumpDetectionTask::getMapBuilderRequest(), Kodu::VisualGripperMonitorTask::getMapBuilderRequest(), and Kodu::VisualLocalizationTask::getPilotRequest().
Definition at line 26 of file MapBuilderRequest.cc. Referenced by addMinBlobArea(), addObjectColor(), addOccluderColor(), and addSecondColor().
Definition at line 39 of file MapBuilderRequest.cc. Referenced by validateRequest().
check object types, colors, etc. Definition at line 21 of file MapBuilderRequest.cc. Referenced by DualCoding::MapBuilder::executeRequest().
Definition at line 63 of file MapBuilderRequest.cc. Referenced by validateRequest().
Definition at line 59 of file MapBuilderRequest.cc. Referenced by validateRequest(). Friends And Related Function Documentation
Definition at line 34 of file MapBuilderRequest.h. Member Data Documentation
AprilTag family to use, e.g., Tag16h5 would be std::pair<int,int>(16,5). Definition at line 63 of file MapBuilderRequest.h. Referenced by DualCoding::MapBuilder::getCamAprilTags(), DualCoding::MapBuilder::getCameraShapes(), operator=(), and setAprilTagFamily(). Fixed heights for pillar or poster blobs of specified colors. Definition at line 56 of file MapBuilderRequest.h. Referenced by addAttributes(), addBlobOrientation(), DualCoding::MapBuilder::getCamBlobs(), DualCoding::MapBuilder::getCameraShapes(), and operator=(). Fixed heights for cylinders of specified colors. Definition at line 57 of file MapBuilderRequest.h. Referenced by addAttributes(), addCylinderHeight(), and DualCoding::MapBuilder::getCameraShapes().
Definition at line 99 of file MapBuilderRequest.h. Referenced by DualCoding::MapBuilder::executeRequest(), DualCoding::MapBuilder::extendLocal(), DualCoding::MapBuilder::extendWorld(), and operator=(). Used by the Pilot when rotating the body to simulate a pan/tilt. Definition at line 95 of file MapBuilderRequest.h. Referenced by operator=(), and DualCoding::MapBuilder::processImage().
Default orientation for blobs of specified colors. Definition at line 55 of file MapBuilderRequest.h. Referenced by addAttributes(), addBlobOrientation(), DualCoding::MapBuilder::getCamBlobs(), DualCoding::MapBuilder::getCameraShapes(), and operator=(). If true (default), clear the camera sketch and shape spaces at start of request. Definition at line 71 of file MapBuilderRequest.h. Referenced by DualCoding::MapBuilder::executeRequest(), operator=(), and DualCoding::MapBuilder::processImage(). If true (default), clear the local sketch and shape spaces at start of request. Definition at line 72 of file MapBuilderRequest.h. Referenced by DualCoding::Pilot::LocalizationUtility::TakeNextPicture::doStart(), DualCoding::Pilot::LocalizationUtility::TakeInitialPicture::doStart(), KoduInterpreter::MotionActionRunner::ExecuteMotionAction::ExecuteSimpleMotion::FindMotionTarget::doStart(), KoduInterpreter::GrabActionRunner::ExecuteGrabAction::PrepareForAnotherGrasp::LookAroundForObject::doStart(), KoduInterpreter::GrabActionRunner::ExecuteGrabAction::VerifyObjectWasGrabbed::LookAtTheGripper::doStart(), KoduInterpreter::DropActionRunner::ExecuteDrop::RepositionReleasedObject::LookForObjectAgain::doStart(), KoduInterpreter::DropActionRunner::ExecuteDrop::LookAtObjectAprilTag::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForAnotherGrasp::LookForTag::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::VerifyObjectWasGrabbed::LookAtTheGripper::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForItemRecovery::LocateLostObject::doStart(), DualCoding::MapBuilder::executeRequest(), and operator=(). Verbosity elements to force off. Definition at line 94 of file MapBuilderRequest.h. Referenced by DualCoding::MapBuilder::executeRequest(), and operator=(). If true (default is false), clear the world sketch and shape spaces at start of request. Definition at line 73 of file MapBuilderRequest.h. Referenced by DualCoding::MapBuilder::executeRequest(), and operator=(). length, width, and height of a cross (in mm) Definition at line 66 of file MapBuilderRequest.h. Referenced by DualCoding::MapBuilder::getCamCrosses(), and operator=(). User-supplied ground plane. Definition at line 91 of file MapBuilderRequest.h. Referenced by DualCoding::MapBuilder::calculateGroundPlane(), and operator=().
Definition at line 45 of file MapBuilderRequest.h. Referenced by DualCoding::MapBuilder::getCamAprilTags(). length, width, and height of a domino (in mm) Definition at line 64 of file MapBuilderRequest.h. Referenced by DualCoding::MapBuilder::getCamDominoes(), and operator=(). If true, do a continuous scan of the area to find interest points to be examined. Definition at line 80 of file MapBuilderRequest.h. Referenced by DualCoding::MapBuilder::executeRequest(), operator=(), DualCoding::MapBuilder::setInitialGazePts(), and validateRequestType(). Angular step for scanning. Definition at line 81 of file MapBuilderRequest.h. Referenced by operator=(), and DualCoding::MapBuilder::scanForGazePts().
If true, terminate map building and post completion event. Definition at line 89 of file MapBuilderRequest.h. Referenced by operator=(), and DualCoding::MapBuilder::requestExitTest().
Definition at line 60 of file MapBuilderRequest.h. Referenced by DualCoding::MapBuilder::getCameraShapes(), and operator=().
Definition at line 98 of file MapBuilderRequest.h. Referenced by DualCoding::MapBuilder::determineNextGazePoint(), DualCoding::MapBuilder::doEvent(), DualCoding::MapBuilder::executeRequest(), DualCoding::MapBuilder::extendWorld(), operator=(), and DualCoding::MapBuilder::setInitialGazePts().
Referenced by DualCoding::MapBuilder::calculateGroundPlane(), and operator=(). Don't clear or import shapes from camera space; just work in local and/or world space. Definition at line 74 of file MapBuilderRequest.h. Referenced by DualCoding::MapBuilder::executeRequest(), operator=(), and DualCoding::MapBuilder::processImage(). If true, the current camera image is processed immediately and results are available when MapBuilder::executeRequest() returns, so there's no need to set up an event listener. Only possible if numSamples == 1 and no head motion is required. Definition at line 76 of file MapBuilderRequest.h. Referenced by LookAtMarkers::Search::doEvent(), LookAtMarkers::TrackMarker::doEvent(), KoduInterpreter::ReceiveActionRunner::FindObject::doStart(), KoduInterpreter::ReceiveActionRunner::ReceiveActionTurnAndGet::FindObject::doStart(), DualCoding::MapBuilder::executeRequest(), operator=(), and validateRequestType(). If true, waits for !msg MoveHead before moving to next gaze point (for debugging). Definition at line 77 of file MapBuilderRequest.h. Referenced by DualCoding::MapBuilder::moveToNextGazePoint(), and operator=().
Assumed height above ground in mm for markers of this type. Definition at line 59 of file MapBuilderRequest.h. Referenced by operator=().
Types of markers to search for. Definition at line 58 of file MapBuilderRequest.h. Referenced by addMarkerType(), LookAtMarkers::Search::doEvent(), LookAtMarkers::TrackMarker::doEvent(), DualCoding::MapBuilder::getCameraShapes(), and operator=(). Ignore objects farther than this distance. Definition at line 70 of file MapBuilderRequest.h. Referenced by KoduInterpreter::MotionActionRunner::ExecuteMotionAction::ExecuteSimpleMotion::FindMotionTarget::doStart(), KoduInterpreter::GrabActionRunner::ExecuteGrabAction::PrepareForAnotherGrasp::FindObjectAgain::doStart(), KoduInterpreter::DropActionRunner::ExecuteDrop::RepositionReleasedObject::LookForObjectAgain::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForAnotherGrasp::FindObjectAgain::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForItemRecovery::LocateLostObject::doStart(), DualCoding::MapBuilder::executeRequest(), and operator=().
Minimum acceptable areas for blobs of specified colors, e.g., req.minBlobAreas[pink_index]=50. Definition at line 54 of file MapBuilderRequest.h. Referenced by addAllMinBlobAreas(), addMinBlobArea(), DualCoding::MapBuilder::getCamBlobs(), DualCoding::MapBuilder::getCameraShapes(), and operator=(). Minimum length of ellipse semimajor axis, for isAdmissible() test. Definition at line 53 of file MapBuilderRequest.h. Referenced by DualCoding::MapBuilder::getCamDominoes(), and operator=(). Minimum length of a line with valid endpoints, for isAdmissible() test. Definition at line 51 of file MapBuilderRequest.h. Referenced by DualCoding::MapBuilder::getCamCrosses(), DualCoding::MapBuilder::getCamDominoes(), and operator=(). Minimum length of a line with an invalid endpoint, for isAdmissible() test. Definition at line 52 of file MapBuilderRequest.h. Referenced by operator=().
Time in msec to wait before taking measurements or throwing completion event after head reaches gazePt. Definition at line 67 of file MapBuilderRequest.h. Referenced by operator=(), DualCoding::MapBuilder::scanForGazePts(), and DualCoding::MapBuilder::storeImage(). length, width, and height of a naught (in mm) Definition at line 65 of file MapBuilderRequest.h. Referenced by DualCoding::MapBuilder::getCameraShapes(), and operator=(). Number of camera images to combine, for noise reduction. Definition at line 68 of file MapBuilderRequest.h. Referenced by DualCoding::MapBuilder::getCameraShapes(), operator=(), DualCoding::MapBuilder::storeImage(), and validateRequestType().
For each object type, a set of object color indices. Definition at line 48 of file MapBuilderRequest.h. Referenced by addAllObjectColors(), addObjectColor(), DualCoding::MapBuilder::extendLocal(), DualCoding::MapBuilder::extendWorld(), DualCoding::MapBuilder::getCameraShapes(), operator=(), DualCoding::MapBuilder::removeNoise(), DualCoding::MapBuilder::scanForGazePts(), and validateRequest().
For each object type, a set of occluder color indices. Definition at line 50 of file MapBuilderRequest.h. Referenced by addOccluderColor(), DualCoding::MapBuilder::getCameraShapes(), operator=(), and validateRequest(). If true, generate new gaze points as shapes are recognized. Definition at line 75 of file MapBuilderRequest.h. Referenced by DualCoding::MapBuilder::determineNextGazePoint(), KoduInterpreter::MotionActionRunner::ExecuteMotionAction::ExecuteSimpleMotion::FindMotionTarget::doStart(), KoduInterpreter::GrabActionRunner::ExecuteGrabAction::PrepareForAnotherGrasp::FindObjectAgain::doStart(), KoduInterpreter::DropActionRunner::ExecuteDrop::RepositionReleasedObject::LookForObjectAgain::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForAnotherGrasp::FindObjectAgain::doStart(), operator=(), and validateRequestType(). If true, leave an intensity (Y-channel) image in camera space for debugging. Definition at line 78 of file MapBuilderRequest.h. Referenced by operator=(), and DualCoding::MapBuilder::processImage(). If true, remove pending gaze points if they're visible in current image. Definition at line 79 of file MapBuilderRequest.h. Referenced by KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForItemRecovery::LocateLostObject::doStart(), KoduInterpreter::InitializeAgent::LookAround::doStart(), Kodu::VisualLocalizationTask::getPilotRequest(), operator=(), and DualCoding::MapBuilder::removeGazePts().
Set by mapbuilder when the request is added to its request queue. Definition at line 100 of file MapBuilderRequest.h. Referenced by DualCoding::MapBuilder::executeRequest(), operator=(), and DualCoding::MapBuilder::requestComplete(). The Behavior making this request; used for posting mapbuilder events. Definition at line 92 of file MapBuilderRequest.h. Referenced by DualCoding::MapBuilder::executeRequest(), operator=(), and DualCoding::MapBuilder::requestComplete(). Type of map to build. Definition at line 47 of file MapBuilderRequest.h. Referenced by getRequestType(), operator=(), and validateRequestType(). Interval in msec between successive samples. Definition at line 69 of file MapBuilderRequest.h. Referenced by operator=(), and DualCoding::MapBuilder::storeImage(). The area to search, in egocentric or allocentric coords. Definition at line 82 of file MapBuilderRequest.h. Referenced by DualCoding::Pilot::LookForTarget::doStart(), DualCoding::Pilot::LookForObject::doStart(), DualCoding::Pilot::LocalizationUtility::TakeNextPicture::doStart(), KoduInterpreter::MotionActionRunner::ExecuteMotionAction::ExecuteSimpleMotion::FindMotionTarget::doStart(), KoduInterpreter::GrabActionRunner::ExecuteGrabAction::PrepareForAnotherGrasp::FindObjectAgain::doStart(), KoduInterpreter::GrabActionRunner::ExecuteGrabAction::PrepareForAnotherGrasp::LookAroundForObject::doStart(), KoduInterpreter::GrabActionRunner::ExecuteGrabAction::VerifyObjectWasGrabbed::LookAtTheGripper::doStart(), KoduInterpreter::DropActionRunner::ExecuteDrop::RepositionReleasedObject::LookForObjectAgain::doStart(), KoduInterpreter::DropActionRunner::ExecuteDrop::LookAtObjectAprilTag::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForAnotherGrasp::FindObjectAgain::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForAnotherGrasp::LookForTag::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::VerifyObjectWasGrabbed::LookAtTheGripper::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForItemRecovery::LocateLostObject::doStart(), KoduInterpreter::InitializeAgent::LookAround::doStart(), DualCoding::MapBuilder::executeRequest(), DualCoding::MapBuilder::getCameraShapes(), Kodu::VisualNavErrMonTask::getMapBuilderRequest(), Kodu::VisualBumpDetectionTask::getMapBuilderRequest(), Kodu::VisualGripperMonitorTask::getMapBuilderRequest(), Kodu::VisualLocalizationTask::getPilotRequest(), operator=(), DualCoding::MapBuilder::scanForGazePts(), DualCoding::MapBuilder::setInitialGazePts(), and validateRequestType().
For two-colored objects (the bar color for dominoes). Definition at line 49 of file MapBuilderRequest.h. Referenced by addSecondColor(), DualCoding::MapBuilder::getCameraShapes(), operator=(), and validateRequest(). Verbosity elements to force on. Definition at line 93 of file MapBuilderRequest.h. Referenced by DualCoding::MapBuilder::executeRequest(), and operator=(). Path to the SIFT object database to load. Definition at line 61 of file MapBuilderRequest.h. Referenced by DualCoding::MapBuilder::getCameraShapes(), operator=(), and validateSift().
Names of objects to search for; if empty, search for everything. Definition at line 62 of file MapBuilderRequest.h. Referenced by addSiftObject(), DualCoding::MapBuilder::getCameraShapes(), operator=(), and validateSift(). User routine to call after cam space processing. Definition at line 85 of file MapBuilderRequest.h. Referenced by operator=(), and DualCoding::MapBuilder::processImage(). User routine to call after ground space processing. Definition at line 86 of file MapBuilderRequest.h. Referenced by operator=(), and DualCoding::MapBuilder::processImage(). User routine to call after a camera image is received. Definition at line 84 of file MapBuilderRequest.h. Referenced by DualCoding::MapBuilder::getCameraShapes(), operator=(), and DualCoding::MapBuilder::processImage(). User routine to call after local space processing. Definition at line 87 of file MapBuilderRequest.h. Referenced by operator=(), and DualCoding::MapBuilder::processImage(). User routine to call after world space processing. Definition at line 88 of file MapBuilderRequest.h. Referenced by operator=(), and DualCoding::MapBuilder::processImage(). Merger of global default verbosity settings and set/clear for this request. Definition at line 101 of file MapBuilderRequest.h. Referenced by DualCoding::MapBuilder::calculateGroundPlane(), DualCoding::MapBuilder::determineNextGazePoint(), DualCoding::MapBuilder::doEvent(), DualCoding::MapBuilder::executeRequest(), DualCoding::MapBuilder::filterGroundShapes(), DualCoding::MapBuilder::getCamAgents(), DualCoding::MapBuilder::getCamBlobs(), DualCoding::MapBuilder::getCamCrosses(), DualCoding::MapBuilder::getCamCylinders(), DualCoding::MapBuilder::getCamDominoes(), DualCoding::MapBuilder::getCamEllipses(), DualCoding::MapBuilder::getCamLines(), DualCoding::MapBuilder::getCamMarkers(), DualCoding::MapBuilder::getCamNaughts(), DualCoding::MapBuilder::getCamPolygons(), DualCoding::MapBuilder::getCamSiftObjects(), DualCoding::MapBuilder::getCamSpheres(), DualCoding::MapBuilder::getCamTargets(), DualCoding::MapBuilder::getCamWalls(), DualCoding::MapBuilder::matchSrcToDst(), DualCoding::MapBuilder::moveToNextGazePoint(), operator=(), DualCoding::MapBuilder::removeNoise(), DualCoding::MapBuilder::requestComplete(), and DualCoding::MapBuilder::setAgent(). Queue of search requests for world targets. Definition at line 83 of file MapBuilderRequest.h. Referenced by DualCoding::MapBuilder::doEvent(), DualCoding::MapBuilder::doNextSearch(), Grasper::FindObj::doStart(), DualCoding::MapBuilder::executeRequest(), operator=(), and validateRequestType(). The documentation for this class was generated from the following files: |
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